公开(公告)号：US20240316759A1

公开(公告)日：2024-09-26

申请号：US18610859

申请日：2024-03-20

Applicant: Sanctuary Cognitive Systems Corporation

Inventor： Hessam Maleki ,  Connor Richard Shannon ,  Seymur Dadashov ,  James Zhong Sheng Liu ,  Matthew Hill

IPC: B25J9/12 ,  B25J9/10 ,  B25J18/00

CPC classification number: B25J9/126 ,  B25J9/106 ,  B25J18/00

Abstract: A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

公开(公告)号：US20240300090A1

公开(公告)日：2024-09-12

申请号：US18661707

申请日：2024-05-12

Applicant: LIVSMED INC.

Inventor： Youngjae SONG ,  Jung Joo LEE ,  Heejin KIM ,  Dongkyu JANG

IPC: B25J9/10 ,  A61B34/30 ,  A61B34/37 ,  B25J3/00 ,  B25J9/12

CPC classification number: B25J9/106 ,  A61B34/37 ,  B25J3/00 ,  B25J9/123 ,  A61B2034/302

Abstract: The present disclosure provides a robot arm for minimally invasive surgery and a method of controlling the same and is directed to providing a surgical robot arm in which a remote center of motion (RCM) control is implemented through an electronic control so that an overall size of an instrument is reduced and a configuration is simplified, thereby increasing space efficiency and preventing collisions between robot arms.

公开(公告)号：US12064875B2

公开(公告)日：2024-08-20

申请号：US18147832

申请日：2022-12-29

Applicant: Mitsubishi Electric Corporation

Inventor： Noboru Kawaguchi ,  Hidetaka Yamauchi ,  Tomoya Hattori ,  Koji Hirose

IPC: B25J9/10 ,  B25J5/00 ,  B25J9/14 ,  B25J15/10 ,  B25J17/00 ,  B25J17/02 ,  B62D57/032 ,  F15B11/10 ,  F15B15/06 ,  F15B15/14 ,  F16H19/00 ,  F16H21/46 ,  F16H25/20

CPC classification number: B25J9/106 ,  B25J5/00 ,  B25J9/102 ,  B25J9/144 ,  B25J15/10 ,  B25J17/00 ,  B25J17/0283 ,  B62D57/032 ,  F15B11/10 ,  F15B15/06 ,  F15B15/14 ,  F16H19/001 ,  F16H21/46 ,  F16H25/20 ,  F15B2211/7053 ,  F15B2211/7107 ,  F16H2025/2043

Abstract: A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

公开(公告)号：US12053256B2

公开(公告)日：2024-08-06

申请号：US18084502

申请日：2022-12-19

Applicant: Asensus Surgical US, Inc.

Inventor： Paul Wilhelm Schnur ,  Stefan Atay ,  Kevin Andrew Hufford ,  Matthew R Penny

IPC: A61B34/00 ,  A61B34/37 ,  B25J9/10 ,  B25J9/16 ,  A61B34/30

CPC classification number: A61B34/76 ,  A61B34/37 ,  A61B34/74 ,  B25J9/106 ,  B25J9/1664 ,  A61B2034/302 ,  G05B2219/45117

Abstract: A powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum. The selected point in space is then set as the virtual fulcrum.

公开(公告)号：US20240246227A1

公开(公告)日：2024-07-25

申请号：US18540156

申请日：2023-12-14

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroyuki KONDO

IPC: B25J9/10

CPC classification number: B25J9/106

Abstract: A joint structure of a robot according to the present disclosure includes: a first link whose one end is connected to a first member; a second link in which one end thereof is connected to the first link and an other end thereof is connected to a second member; and a first pivot that connects an other end of the first link to the one end of the second link. The joint structure also includes: a third link whose one end is connected to the first link at a position near the first pivot; and a slide part connected to the second link so as to be slidable. An other end of the third link is connected to the slide part.

公开(公告)号：US20240238963A1

公开(公告)日：2024-07-18

申请号：US18563695

申请日：2022-05-26

Applicant: The Governing Council of the University of Toronto

Inventor： Cameron Forbrigger ,  Adam Schonewille ,  Eric Diller

IPC: B25J9/10

CPC classification number: B25J9/106

Abstract: A magnetic torsion spring for a magnetically actuated mechanism, the spring having first and second links of the mechanism rotatably connected at a joint of the mechanism, the first link provided with a first magnet spaced from the joint and the second link provided with a second magnet spaced from the joint generating a spring effect, the spring defined by a torque curve with respect to spring deflection, the torque curve defined by spring type, dimensionless characteristic length ratio of the spring, and an amplitude constant, and the length ratio has a value between 0 and 1.

公开(公告)号：US20240216095A1

公开(公告)日：2024-07-04

申请号：US18605516

申请日：2024-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/10 ,  F16H7/08

CPC classification number: A61B34/71 ,  A61B34/35 ,  B25J9/106 ,  F16H7/08 ,  F16H2007/0865

Abstract: A surgical manipulator linkage assembly may comprise a linkage arm that includes a first pulley and a second pulley. Each of the first pulley and the second pulley comprise a first drive track and a second drive track. The first drive track and the second drive track are substantially co-planar, and the first drive track extends at least partially around the second drive track. The linkage arm also includes a first drive member section extending between the first drive tracks of the first pulley and the second pulley. The linkage arm also includes a second drive member section extending between the second drive tracks of the first pulley and the second pulley. The first drive member section is wound around the first pulley in a first tensile direction and the second drive member section is wound around the first pulley in a opposite second tensile direction.

公开(公告)号：US11981035B2

公开(公告)日：2024-05-14

申请号：US16903690

申请日：2020-06-17

Applicant: KARL STORZ SE & Co. KG

Inventor： Stephan Schrader ,  Benedikt Koehler ,  Chang-Hae Kim ,  Marco Schulze

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/05 ,  A61B34/35 ,  A61B34/37 ,  B25J9/10 ,  B25J9/16

CPC classification number: B25J9/1689 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/00188 ,  A61B1/00193 ,  A61B1/045 ,  A61B1/05 ,  A61B34/35 ,  A61B34/37 ,  B25J9/106 ,  A61B1/00009

Abstract: A medical handling device comprises an instrument holder for holding an observation instrument that is equipped with an image capturing unit for capturing an image section. The handling device further comprises a robotic handling unit that supports the instrument holder and a control device that comprises a handling control unit for controlling the robotic handling unit and an instrument control unit for controlling the observation instrument. An input device is coupled to the control device for selecting an image section to be reproduced. The control device is adapted to control the robotic handling unit in response to user inputs at the input device to change the captured image section. The control device is adapted to convert operating commands at the input device into movement instructions, depending on a present orientation of the image capturing unit.

公开(公告)号：US11911898B2

公开(公告)日：2024-02-27

申请号：US18295421

申请日：2023-04-04

Applicant: NACHI-FUJIKOSHI CORP.

Inventor： Yusuke Kitayama

IPC: B25J9/10

CPC classification number: B25J9/106

Abstract: A robot includes a first joint member, a second joint member connecting a second arm member and a third arm member, a third joint member connecting the third arm member and a flange, a first link having one end connected to the second joint member and another end connected to the third joint member, a second link having one end connected to the second joint member, a counter weight connected to another end of the second link and the first joint member, and including a motor rotating the third arm member, on a side opposite to the first joint member with the other end of the second link as a base point, and a transmission member transmitting rotating force generated by the motor to the third arm member through the first joint member, the second arm member, and the second joint member.

公开(公告)号：US11878429B2

公开(公告)日：2024-01-23

申请号：US17190411

申请日：2021-03-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi Yoshiura ,  Teruhisa Kitagawa

IPC: B25J9/16 ,  B25J9/02 ,  B25J9/10 ,  B25J9/12

CPC classification number: B25J9/1674 ,  B25J9/023 ,  B25J9/106 ,  B25J9/123 ,  B25J9/1623 ,  B25J9/1633 ,  B25J9/1664

Abstract: A robot control apparatus includes a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively, and abnormality determination circuitry configured to determine based on state data of the plurality of motors whether at least one of collision of the parallel link robot and dislocation in the link mechanisms occurs.